Drive wheel and cart

Abstract

According to the present invention, differential omnidirectional movement is enabled, a detection mechanism for a turning angle is disposed while reducing an occupied area in an overall configuration, and transmission loss of the turning angle is reduced. The present invention comprises: a first input shaft 25A and a second input shaft 25B; a rotatable axle 37 to which a wheel 15 is connected; a differential transmission mechanism 13 that transmits the rotational force of the first input shaft 25A to the axle 37 and transmits the rotational force of the second input shaft 25B to the axle 37; a turning shaft 35 that supports the wheel 15 via the axle 37 in an endlessly turnable manner; and an angle detection shaft 16a that is fixed coaxially with the turning shaft 35 and to which an angle detector 16 is connected.

Description

Drive wheel and carriage

[0001] The present invention relates to a drive wheel and a carriage.

[0002] Patent Document 1 discloses a drive wheel and a carriage. This drive wheel includes a first input shaft and a second input shaft arranged coaxially, a first output shaft and a second output shaft arranged on a separate axis, a first spur gear mechanism that transmits the rotational force of the first input shaft to the first output shaft, a second spur gear mechanism that transmits the rotational force of the second input shaft to the second output shaft, a wheel connected to an axle, a swivel shaft that supports the wheel via the axle so as to be rotatable, a first power conversion mechanism that transmits the rotational force of the first output shaft to one end of the axle, and a second power conversion mechanism that transmits the rotational force of the second output shaft to the other end of the axle.

[0003] Japanese Patent Application Laid-Open No. 2020-024033

[0004] For example, as shown in Patent Document 1, in a differential type omnidirectional moving wheel capable of actively moving the wheel and turning, in order to attach a steering angle sensor to detect the turning angle, the sensor is arranged at a position offset from the swivel shaft via a rotation transmission mechanism such as a pulley or a gear on the swivel shaft. Therefore, in the case of a drive wheel with a thick swivel shaft with respect to the overall configuration, the offset distance also becomes large, and the occupied area of the entire drive wheel increases. Also, when the sensor is arranged at a position offset from the swivel shaft, for example, when the rotation transmission mechanism is a pulley, there is a possibility that losses such as belt slip may occur due to the type of belt and insufficient belt tension, and the turning angle may not be accurately transmitted. When the sensor is arranged at a position offset from the swivel shaft, for example, when the rotation transmission mechanism is a gear, there is a possibility that losses may occur due to backlash and the turning angle may not be accurately transmitted.

[0005] The present disclosure has been made in view of the above problems, and an object thereof is to provide a drive wheel and a carriage capable of reducing the occupied area with respect to the overall configuration while enabling differential type omnidirectional movement, arranging a turning angle detection mechanism, and reducing the transmission loss of the turning angle.

[0006] A drive wheel according to one aspect of the present disclosure for achieving the above objectives comprises a first input shaft and a second input shaft; a rotatable axle to which a wheel is connected; a differential transmission mechanism that transmits the rotational force of the first input shaft to the axle while transmitting the rotational force of the second input shaft to the axle; a pivot shaft that supports the wheel so as to be infinitely pivotable via the axle; and an angle detection shaft fixed coaxially with respect to the pivot shaft and to which an angle detector is connected.

[0007] A preferred configuration of the drive wheel further comprises a first drive mechanism for transmitting rotational force to the first input shaft and a second drive mechanism for transmitting rotational force to the second input shaft, wherein the first drive mechanism includes a first drive unit having the first drive shaft and a first drive transmission mechanism for transmitting the rotational force of the first drive shaft to the first input shaft, and the second drive mechanism includes a second drive unit having the second drive shaft and a second drive transmission mechanism for transmitting the rotational force of the second drive shaft to the second input shaft, wherein the first input shaft, the second input shaft and the pivot shaft are arranged coaxially, and the first drive shaft and the second drive shaft are arranged parallel and in a straight line with the first input shaft, the second input shaft and the pivot shaft.

[0008] In a preferred configuration of the drive wheel described above, the first input shaft, the second input shaft, and the pivot shaft are arranged coaxially, and the differential transmission mechanism includes a first input bevel gear fixed to the first input shaft, a second input bevel gear fixed to the second input shaft, and an output bevel gear connected to the axle and meshing with the first input bevel gear and the second input bevel gear.

[0009] A desirable configuration for the drive wheel is such that the rotation axis of the wheel, which intersects the axis of the axle and lies vertically, is offset horizontally from the axis of the pivot axis, perpendicular to the axis of the axle.

[0010] A desirable configuration of the above-mentioned drive wheel is that the wheel is a single wheel, and the rotation axis of the wheel, which intersects the axis of the axle and is aligned vertically, is offset from the axis of the pivot axis along the axis of the axle.

[0011] A trolley according to one aspect of the present disclosure for achieving the above objectives comprises one of the above-described drive wheels and a trolley body to which the drive wheel is attached.

[0012] According to this disclosure, it is possible to enable differential omnidirectional movement while minimizing the area occupied by the slewing angle detection mechanism in the overall configuration, and to reduce the transmission loss of the slewing angle.

[0013] Figure 1 is a perspective view of the drive wheel of Embodiment 1. Figure 2 is a plan view of the drive wheel of Embodiment 1. Figure 3 is a side view of the drive wheel of Embodiment 1. Figure 4 is a cross-sectional perspective view of the drive wheel of Embodiment 1. Figure 5 is a schematic diagram showing the drive force transmission path of the drive wheel of Embodiment 1. Figure 6 is a cross-sectional perspective view of the drive wheel of Embodiment 2. Figure 7 is a schematic diagram showing the drive force transmission path of the drive wheel of Embodiment 2. Figure 8 is a schematic diagram showing the drive force transmission path of the drive wheel of Embodiment 3. Figure 9 is a schematic diagram showing an example of the configuration of the bogie of the embodiment.

[0014] Preferred embodiments of the drive wheel and bogie according to this disclosure will be described in detail below with reference to the drawings. However, the present invention is not limited by these embodiments, and if there are multiple embodiments, they may be constructed by combining each embodiment. Furthermore, the components in the embodiments include those that are easily conceivable by those skilled in the art, those that are substantially identical, and those that fall within the so-called equivalent range.

[0015] Figure 9 is a schematic diagram showing an example of the configuration of the trolley according to the embodiment.

[0016] The trolley 100 includes a trolley body 101, a handle portion 102, four drive wheels 110 (120, 130), a power supply unit 104, and a control device 105.

[0017] The bogie body 101 is, for example, made of a flat plate and has a rectangular shape when viewed from above. A handle portion 102 is fixed to one side of the bogie body 101 in the longitudinal direction. Four drive wheels 110 are mounted on the four corners of the underside of the bogie body 101. The four drive wheels 110 are rotatable and steerable. A power supply unit 104 and a control device 105 are mounted on the underside of the bogie body 101 between the front and rear drive wheels 110. The control device 105 includes a computer system. The computer system includes a processor such as a CPU and memory such as ROM or RAM. Therefore, the control device 105 controls the drive wheels 110 of the bogie 100.

[0018] The trolley body 101 has a flat surface, allowing objects to be placed on this flat surface. In other words, the trolley 100 can be configured as an automated guided vehicle (AGV). Furthermore, the trolley 100 can be configured as a mobile device by arranging equipment along the flat surface of the trolley body 101. Examples of such equipment include hand lifters, forklifts, picking robots, and medical equipment.

[0019] Furthermore, the bogie 100 and equipment are not limited to the above-described configuration in terms of the number and arrangement of the drive wheels 110. For example, in the four-wheel configuration described above, the bogie 100 and equipment may have a pair of drive wheels 110 attached to the rear side of the bogie 100 and a pair of driven wheels attached to the front side of the bogie 100. Also, although not shown in the figures, the bogie 100 and equipment may have a configuration with three or more wheels in which there is only one drive wheel 110 and all other wheels are driven wheels. Also, although not shown in the figures, the bogie 100 and equipment may have a configuration with three or more wheels in which there are no driven wheels and all wheels are drive wheels 110. In other words, the bogie 100 and equipment may have a configuration with three or more wheels in which there is only one drive wheel 110.

[0020] [Embodiment 1 of the drive wheel] The drive wheel 110 will be described in detail below. Figure 1 is a perspective view of the drive wheel of Embodiment 1. Figure 2 is a plan view of the drive wheel of Embodiment 1. Figure 3 is a side view of the drive wheel of Embodiment 1. Figure 4 is a cross-sectional perspective view of the drive wheel of Embodiment 1. Figure 5 is a schematic diagram showing the driving force transmission path of the drive wheel of Embodiment 1.

[0021] In the following explanation, of the three intersecting directions, the first direction will be referred to as the "forward / backward direction X," the second direction as the "width direction Y," and the third direction as the "up / down direction Z." The forward / backward direction X, the width direction Y, and the up / down direction Z are mutually orthogonal. The forward / backward direction X typically corresponds to the direction in which the drive wheels 110 move in a straight line.

[0022] The drive wheel 110 has a body 10 that is fixed to the bogie body 101 of the bogie 100 as described above, and a drive mechanism 11, a swivel section 12, a differential transmission mechanism 13, a wheel 15, and an angle detector 16 are provided on this body 10.

[0023] The main body 10 is formed in the shape of a plate with its surface facing upwards and downwards. The drive mechanism 11 is a component that inputs rotational force and is mainly located above the main body 10. The swivel section 12 is mainly located below the main body 10. The differential transmission mechanism 13 transmits the rotational force input by the drive mechanism 11 to the wheel 15. In this embodiment, the wheel 15 is a single wheel and is rotatable by the rotational force input via the drive mechanism 11 and the differential transmission mechanism 13, and is also steerable by the swivel section 12.

[0024] The drive mechanism 11 includes a first drive mechanism 22A and a second drive mechanism 22B.

[0025] The first drive mechanism 22A has a first drive transmission mechanism including a first drive unit 23A, a first drive pulley 24A, a first input shaft 25A, a first driven pulley 26A, and a first drive belt 27A. The first drive unit 23A is composed of a motor. The first drive unit 23A is fixed to the main body 10. The first drive unit 23A has a first drive shaft 23Aa that protrudes above the main body 10 and extends in the vertical direction. The first drive pulley 24A is fixed to the first drive shaft 23Aa. The first input shaft 25A is provided so as to extend in the vertical direction parallel to the first drive shaft 23Aa and is rotatably supported about the axis O1. The first input shaft 25A is rotatably arranged with respect to the pivot shaft 35 via a bearing 43 (see Figure 4) on its outside. The first driven pulley 26A is fixed to the portion of the first input shaft 25A that protrudes above the main body 10. The first driven pulley 26A and the first drive pulley 24A are arranged side by side in directions perpendicular to the first input shaft 25A and the first drive shaft 23Aa. The first drive belt 27A is formed in an annular shape and is wrapped around the first driven pulley 26A and the first drive pulley 24A. Therefore, the first drive mechanism 22A rotates the first drive pulley 24A when driven by the first drive unit 23A, and this rotation is transmitted from the first drive pulley 24A to the first driven pulley 26A via the first drive belt 27A, causing the first input shaft 25A to rotate. The first drive transmission mechanism, although not explicitly shown in the figure, may consist of a first drive gear replacing the first drive pulley 24A, a first driven gear replacing the first driven pulley 26A, and a first intermediate gear replacing the first drive belt 27A, with the first intermediate gear connecting the first drive gear and the first driven gear by meshing.

[0026] The second drive mechanism 22B has a second drive transmission mechanism including a second drive unit 23B, a second drive pulley 24B, a second input shaft 25B, a second driven pulley 26B, and a second drive belt 27B. The second drive unit 23B is composed of a motor. The second drive unit 23B is fixed to the main body 10. The second drive unit 23B has a second drive shaft 23Ba that protrudes above the main body 10 and extends in the vertical direction. The second drive pulley 24B is fixed to the second drive shaft 23Ba. The second drive pulley 24B is formed to have the same diameter as the first drive pulley 24A. The second input shaft 25B is provided extending in the vertical direction parallel to the second drive shaft 23Ba and is rotatably supported about the axis O1. The second input shaft 25B is rotatably arranged around the pivot shaft 35 via a plurality of bearings 44 (see Figure 4) on its outside. The second input shaft 25B is cylindrical in shape and passes through the first input shaft 25A. It is positioned on the outside of the first input shaft 25A via a plurality of bearings 45 (see Figure 4) so ​​as to rotate independently of the first input shaft 25A. The second driven pulley 26B is fixed to a portion of the second input shaft 25B that protrudes above the main body 10. The second driven pulley 26B is formed to the same diameter as the first driven pulley 26A and is located below the first driven pulley 26A. The second driven pulley 26B and the second drive pulley 24B are arranged side by side in directions perpendicular to the second input shaft 25B and the second drive shaft 23Ba. The second drive belt 27B is annular in shape and is wrapped around the second driven pulley 26B and the second drive pulley 24B. Therefore, the second drive mechanism 22B drives the second drive unit 23B, causing the second drive pulley 24B to rotate. This rotation is transmitted from the second drive pulley 24B to the second driven pulley 26B via the second drive belt 27B, causing the second input shaft 25B to rotate. Although not explicitly shown in the figure, the second drive transmission mechanism may consist of a second drive gear replacing the second drive pulley 24B, a second driven gear replacing the second driven pulley 26B, and a second intermediate gear replacing the second drive belt 27B, with the second intermediate gear connecting the second drive gear and the second driven gear by meshing.

[0027] The swivel section 12 includes a swivel shaft 35 and a support member 36. The swivel shaft 35 has its disc-shaped center as the axis O1 and is rotatably supported on the main body 10 via a plurality of bearings 46 (see Figure 4). As a result, the swivel shaft 35 is supported so that it can rotate (rotate infinitely) relative to the main body 10 about the axis O1.

[0028] As shown in Figure 4, the pivot shaft 35 is positioned to pass through the first input shaft 25A of the first drive mechanism 22A vertically along the axis O1 and is rotatably supported via a bearing 43. Therefore, the first input shaft 25A is supported so as to be rotatable relative to the pivot shaft 35 with respect to the axis O1, and also so as to be rotatable relative to the main body 10 with respect to the axis O1. In other words, the pivot shaft 35 is provided so as to be rotatable relative to the main body 10 regardless of the rotation of the first input shaft 25A. For this reason, the drive wheel 110 of this embodiment can input rotational force to the first input shaft 25A on the axis O1, which is the pivot axis of the wheel 15. Furthermore, the pivot shaft 35 is positioned so as to be rotatable relative to the second input shaft 25B of the second drive mechanism 22B, with respect to the second input shaft 25B of the second drive mechanism 22B facing upward and is rotatably supported via a bearing 44. As described above, the second input shaft 25B is inserted through the first input shaft 25A and is rotatably positioned outside the first input shaft 25A via a bearing 45. Therefore, the second input shaft 25B is supported via the first input shaft 25A so as to be rotatable relative to the pivot shaft 35 about the axis O1, and also so as to be rotatable relative to the main body 10 about the axis O1. That is, the pivot shaft 35 is provided so as to be rotatable (infinitely pivotable) relative to the main body 10, regardless of the rotation of the second input shaft 25B. For this reason, the drive wheel 110 of this embodiment can input rotational force to the second input shaft 25B which is on the axis O1, which is the pivot axis of the wheel 15. With this configuration, the first input shaft 25A, the second input shaft 25B, and the pivot shaft 35 are rotatably arranged coaxially along the axis O1.

[0029] The pivot shaft 35 has a housing portion 35a that accommodates a part of the differential transmission mechanism 13.

[0030] The pivot shaft 35 is provided with a disc-shaped lower section to which a pair of support members 36 extend downward on both sides of the wheel 15 in the width direction Y. The wheel 15 is integrally provided with an axle 37 that extends along the width direction Y along an axis O2 which is perpendicular to the direction in which the axis O1 extends (vertical direction Z). Each end of the axle 37 along the axis O2 is rotatably supported by bearings (not shown) on each of the pair of support members 36.

[0031] The differential transmission mechanism 13 includes a first transmission mechanism 13A, a second transmission mechanism 13B, a third transmission mechanism 13C, and an output shaft 50. The first transmission mechanism 13A includes a first input bevel gear 38A and an output bevel gear 39. The second transmission mechanism 13B includes a second input bevel gear 38B and the output bevel gear 39. The third transmission mechanism 13C includes an input pulley 51, an output pulley 52, and a timing belt 53.

[0032] In the first transmission mechanism 13A, the first input bevel gear 38A and the output bevel gear 39 are housed in a housing 35a, as shown in Figures 1, 3, and 4. The first input bevel gear 38A is fixed to the first input shaft 25A. The first input shaft 25A is provided through the pivot shaft 35, and the first input bevel gear 38A is fixed inside the housing 35a. Therefore, the first input bevel gear 38A rotates about the axis O1. The first input bevel gear 38A meshes with the output bevel gear 39. The output bevel gear 39 is fixed to the output shaft 50. The output shaft 50 extends in a direction intersecting the axis O1 of the first input shaft 25A at a 90° angle, and is provided on an axis O3 parallel to the axis O2 of the axle 37. The output shaft 50 is supported by the pivot shaft 35 via a plurality of bearings 48 (see Figure 4) and is provided to rotate freely about the axis O3.

[0033] In the second transmission mechanism 13B, the second input bevel gear 38B is housed in the housing 35a, as shown in Figures 1, 3, and 4. The second input bevel gear 38B is fixed to the second input shaft 25B. A portion of the second input shaft 25B enters the housing 35a along the axis O1, and the second input bevel gear 38B is fixed in the housing 35a. Therefore, the second input bevel gear 38B rotates coaxially with the first input bevel gear 38A about the axis O1. The second input bevel gear 38B meshes with the output bevel gear 39. Therefore, the output bevel gear 39 is used in common in the configurations of the first transmission mechanism 13A and the second transmission mechanism 13B. The second input bevel gear 38B has the same number of teeth and the same pitch as the first input bevel gear 38A.

[0034] In the third transmission mechanism 13C, the input pulley 51, output pulley 52, and timing belt 53 are arranged outside the housing 35a, as shown in Figures 1, 3, and 4. The input pulley 51 is fixed to the portion of the output shaft 50 that extends outside the housing 35a. The output pulley 52 is fixed to the axle 37. The timing belt 53 is formed in an annular shape and is wrapped around the input pulley 51 and the output pulley 52. ​​Therefore, in the third transmission mechanism 13C, the rotational force transmitted to the output shaft 50 causes the input pulley 51 to rotate, and this rotation is transmitted from the input pulley 51 to the output pulley 52 via the timing belt 53, causing the axle 37 to rotate. In this way, the third transmission mechanism 13C transmits rotational force by connecting the output bevel gear 39 of the output shaft 50 to the axle 37.

[0035] Furthermore, as shown in Figure 3, in the embodiment, the rotation axis O5 of the wheel 15, which is aligned vertically and intersects the axis O2 of the axle 37, is offset horizontally (in the longitudinal direction X) from the axis O1 of the pivot axis 35, perpendicular to the axis O2 of the axle 37. This offset arrangement of the rotation axis O5 of the wheel 15 is achieved by shifting the position of the axis O2 of the axle 37 horizontally (in the longitudinal direction X) from the position of the axis O3 of the output shaft 40. Also, as shown in Figure 3, in the embodiment, in a side view, the axis O6 of the first drive shaft 23Aa in the first drive mechanism 22A and the axis O7 of the second drive shaft 23Ba in the second drive mechanism 22B are parallel to the axis O1 of the first input shaft 25A, the second input shaft 25B, and the pivot axis 35, and are arranged on a straight line L in the plan view shown in Figure 2.

[0036] The angle detector 16 has an angle detection shaft 16a. Although not explicitly shown in the figure, the angle detector 16 has a rotor fixed to the angle detection shaft 16a and a detection element that detects the rotation of the rotor, all located inside a casing on which the angle detection shaft 16a is rotatably mounted. For example, the angle detector 16 can be configured as a rotary encoder in which the rotor has multiple slits formed at equal intervals in the circumferential direction of a disk, and the detection element is formed of a light-transmitting and receiving element that allows light to pass through the slits of the rotor. Alternatively, the angle detector 16 can be configured as a rotary encoder in which the rotor is formed with alternating north and south poles, and the detection element is formed of a magnetoresistive element that senses changes in the magnetic poles of the rotor. In other words, the angle detector 16 has a rotor directly fixed to the angle detection shaft 16a, and the rotation of this rotor is detected by the detection element.

[0037] The angle detection shaft 16a is inserted inside the cylindrical first input shaft 25A and positioned at the axis O1, and is supported to rotate relative to the first input shaft 25A via a bearing 49 (see Figure 4). The angle detection shaft 16a is fixed to the pivot shaft 35. Therefore, the angle detection shaft 16a rotates together with the pivot shaft 35 around the axis O1. The angle detector 16 is provided on the angle detection shaft 16a that protrudes from the first input shaft 25A. The angle detector 16 is attached to a fixing member 10a which is fixed to the main body 10.

[0038] The drive wheel 110 can rotate and steer by rotating the first input shaft 25A and the second input shaft 25B via the drive mechanism 11. For example, by rotating the first input shaft 25A and the second input shaft 25B in the opposite direction to the first input shaft 25A, while keeping the rotational speed transmitted to the output shaft 50 the same, the wheel 15 can rotate without steering. At this time, by making the rotational speeds of the first input shaft 25A and the second input shaft 25B different, the wheel 15 can be steered while rotating or stationary.

[0039] Here, the operation of the drive wheel 110 will be explained with reference to Figure 5. When the first input shaft 25A of the drive wheel 110 is rotated in direction A, the first input bevel gear 38A rotates in the same direction, and the output bevel gear 39 that meshes with the first input bevel gear 38A rotates in direction C. When the output bevel gear 39 rotates in direction C, it causes the axle 37 to rotate in the same direction via the third transmission mechanism 13C provided on the output shaft 50 of the output bevel gear 39. On the other hand, when the second input shaft 25B of the drive wheel 110 is rotated in direction B, which is the opposite direction to direction A, the second input bevel gear 38B rotates in the same direction, and the output bevel gear 39 that meshes with the second input bevel gear 38B rotates in direction C.

[0040] At this time, if the drive wheel 110 reduces the rotational speed from the second input shaft 25B to the second input bevel gear 38B relative to the rotational speed from the first input shaft 25A to the first input bevel gear 38A, the rotational speed input from the second input bevel gear 38B to the output bevel gear 39 will be lower than the rotational speed input from the first input bevel gear 38A to the output bevel gear 39. Then, in order to absorb the difference in rotational speed, the pivot shaft 35 rotates by that difference, causing the wheel 15 to pivot and steer. Also, if the drive wheel 110 stops rotating the first input shaft 25A or the second input shaft 25B, the rotational speed input from the first input bevel gear 38A to the output bevel gear 39, or from the second input bevel gear 38B to the output bevel gear 39, becomes 0, and the wheel 15 does not rotate, but the pivot shaft 35 pivots and steers.

[0041] Further, the drive wheel 110 is arranged such that the rotation axis O5 of the wheel 15 along the vertical direction, which intersects the axis O2 of the axle 37, is displaced in the horizontal direction orthogonal to the axis O2 of the axle 37 with respect to the axis O1 of the turning axis 35. For this reason, when the drive wheel 110 does not drive the wheel 15, the wheel 15 can turn passively due to an external force acting from the horizontal direction. That is, the drive wheel 110 can automatically drive and automatically steer the carriage 100, and an operator can manually drive and manually steer it.

[0042] Further, in the drive wheel 110 of the embodiment, the rotational position of the turning part 12 with respect to the main body 10 is detected by the angle detector 16. The detection signal of the detector is input to the control device 105 of the carriage (equipment) 100. As a result, the carriage 100 can control the turning of the drive wheel 110 in the control device 105.

[0043] The drive wheel 110 of the embodiment is characterized by including a first input shaft 25A and a second input shaft 25B, a rotatable axle 37 to which the wheel 15 is connected, a differential transmission mechanism 13 that transmits the rotational force of the first input shaft 25A to the axle 37 while transmitting the rotational force of the second input shaft 25B to the axle 37, a turning axis 35 that supports the wheel 15 via the axle 37 so as to be infinitely turnable, and an angle detection shaft 16a that is coaxially fixed with respect to the turning axis 35 and to which the angle detector 16 is connected.

[0044] This drive wheel 110 has a differential type omnidirectional movement mechanism. That is, in the drive wheel 110, the rotational forces of the first input shaft 25A and the second input shaft 25B are transmitted to the axle 37 via the differential transmission mechanism 13. This drive wheel 110 can switch between the rotation of the wheel 15 connected to the axle 37 and the steering of the wheel 15 by adjusting the rotational speeds of the first input shaft 25A and the second input shaft 25B. Moreover, the drive wheel 110 has an infinitely turnable mechanism in which the turning axis 35 turns infinitely.

[0045] In particular, the drive wheel 110 has an angle detection shaft 16a to which the angle detector 16 is connected fixed coaxially with respect to the pivot shaft 35, and the pivot angle of the pivot shaft 35 is detected directly from the angle detection shaft 16a. Therefore, with this drive wheel 110, in a configuration for detecting the pivot angle of the pivot shaft 35, compared to a configuration in which the pivot angle is detected from the pivot shaft 35 via a belt or gear, the pivot angle detection mechanism can be arranged with a smaller footprint relative to the overall configuration, and the transmission loss of the pivot angle can be reduced.

[0046] Furthermore, this drive wheel 110 further includes a first drive mechanism 22A that transmits rotational force to a first input shaft 25A, and a second drive mechanism 22B that transmits rotational force to a second input shaft 25B. The first drive mechanism 22A includes a first drive unit 23A having a first drive shaft 23Aa, and a first drive transmission mechanism (first drive pulley 24A, first driven pulley 26A, and first drive belt 27A) that transmits the rotational force of the first drive shaft 23Aa to the first input shaft 25A, and the second drive mechanism 22B is The system includes a second drive unit 23B having a second drive shaft 23Ba, and a second drive transmission mechanism (second drive pulley 24B, second driven pulley 26B, and second drive belt 27B) that transmits the rotational force of the second drive shaft 23Ba to the second input shaft 25B. The first input shaft 25A, the second input shaft 25B, and the pivot shaft 35 are arranged coaxially, and the first drive shaft 23Aa and the second drive shaft 23Ba are arranged parallel and in a straight line with the first input shaft 25A, the second input shaft 25B, and the pivot shaft 35.

[0047] With this drive wheel 110, by arranging the first drive shaft 23Aa and the second drive shaft 23Ba parallel to and in a straight line with the first input shaft 25A, the second input shaft 25B, and the pivot shaft 35, the first drive transmission mechanism of the first drive mechanism 22A and the second drive transmission mechanism of the second drive mechanism 22B are arranged to partially overlap in the direction in which the first drive shaft 23Aa and the second drive shaft 23Ba extend. As a result, the area occupied by the first drive transmission mechanism of the first drive mechanism 22A and the second drive transmission mechanism of the second drive mechanism 22B in the direction intersecting the first drive shaft 23Aa and the second drive shaft 23Ba can be reduced.

[0048] Further, in this drive wheel 110, the first input shaft 25A, the second input shaft 25B, and the turning shaft 35 are arranged coaxially, and the differential transmission mechanism 13 includes a first input bevel gear 38A fixed to the first input shaft 25A, a second input bevel gear 38B fixed to the second input shaft 25B, and an output bevel gear 39 connected to the axle 37 and meshing with the first input bevel gear 38A and the second input bevel gear 38B.

[0049] According to this drive wheel 110, as a differential mechanism, it can be composed of three bevel gears, namely the first input bevel gear 38A, the second input bevel gear 38B, and the output bevel gear 39, and the exclusive area of the differential mechanism can be made relatively small.

[0050] Further, the carriage 100 of the embodiment includes the above-described drive wheel 110 and a carriage body 101 to which the drive wheel 110 is attached. Therefore, the carriage 100 can be made smaller and lighter by the drive wheel 110 with a reduced exclusive area and downsized.

[0051] [Embodiment 2 of Drive Wheel] Fig. 6 is a cross-sectional perspective view of the drive wheel of Embodiment 2. Fig. 7 is a schematic diagram showing the driving force transmission path of the drive wheel of Embodiment 2.

[0052] The drive wheel 120 of Embodiment 2 has a different configuration of the differential transmission mechanism 213 from that of the drive wheel 110 of Embodiment 1 described above, and other configurations are the same. Therefore, in the following description of the drive wheel 120 of Embodiment 2, the same reference numerals are given to the equivalent parts as those of the drive wheel 110 described above, and the description thereof is omitted.

[0053] The differential transmission mechanism 213 includes a first transmission mechanism 13A, a second transmission mechanism 13B, and an axle 37. The first transmission mechanism 13A is configured to include a first input bevel gear 38A and an output bevel gear 39. The second transmission mechanism 13B is configured to include a second input bevel gear 38B and the output bevel gear 39. Therefore, the differential transmission mechanism 213 does not have the third transmission mechanism 13C in the drive wheel 110 of Embodiment 1.

[0054] In the first transmission mechanism 13A, the first input bevel gear 38A and the output bevel gear 39 are housed in a housing 35a, as shown in Figure 6. The first input bevel gear 38A is fixed to the first input shaft 25A. The first input shaft 25A is provided through the pivot shaft 35, and the first input bevel gear 38A is fixed inside the housing 35a. Therefore, the first input bevel gear 38A rotates about the axis (O1). The first input bevel gear 38A meshes with the output bevel gear 39. The output bevel gear 39 is fixed to the axle 37.

[0055] In the second transmission mechanism 13B, the second input bevel gear 38B is housed in the housing 35a, as shown in Figure 6. The second input bevel gear 38B is fixed to the second input shaft 25B. A portion of the second input shaft 25B fits into the housing 35a along its axis (O1), and the second input bevel gear 38B is fixed in the housing 35a. Therefore, the second input bevel gear 38B rotates coaxially with the first input bevel gear 38A about the axis (O1). The second input bevel gear 38B meshes with the output bevel gear 39. Therefore, the output bevel gear 39 is used in common in the configurations of the first transmission mechanism 13A and the second transmission mechanism 13B. The second input bevel gear 38B has the same number of teeth and pitch as the first input bevel gear 38A.

[0056] The drive wheel 120 has an axle 37 that extends in a direction that intersects the axis O1 at a 90° angle, and the wheel 15 is fixed to the portion that extends outside the housing 35a. Therefore, the rotation axis (O5) of the single wheel 15, which intersects the axis (O2) of the axle 37 and is aligned vertically, is positioned offset from the axis (O1) of the pivot axis 35 along the axis (O2) of the axle 37.

[0057] Here, the operation of the drive wheel 120 will be explained based on Figure 7. When the first input shaft 25A of the drive wheel 120 is rotated in direction A, the first input bevel gear 38A rotates in the same direction, and the output bevel gear 39 that meshes with the first input bevel gear 38A rotates in direction C. When the output bevel gear 39 rotates in direction C, it causes the axle 37 to which the output bevel gear 39 is fixed to rotate in the same direction. On the other hand, when the second input shaft 25B of the drive wheel 120 is rotated in direction B, which is the opposite direction to direction A, the second input bevel gear 38B rotates in the same direction, and the output bevel gear 39 that meshes with the second input bevel gear 38B rotates in direction C.

[0058] At this time, if the drive wheel 120 reduces the rotational speed from the second input shaft 25B to the second input bevel gear 38B relative to the rotational speed from the first input shaft 25A to the first input bevel gear 38A, the rotational speed input from the second input bevel gear 38B to the output bevel gear 39 becomes lower than the rotational speed input from the first input bevel gear 38A to the output bevel gear 39. Then, in order to absorb the difference in rotational speed, the pivot shaft 35 rotates by that difference, causing the wheel 15 to pivot and steer. Also, if the drive wheel 120 stops the rotation of the first input shaft 25A or the second input shaft 25B, the rotational speed input from the first input bevel gear 38A to the output bevel gear 39, or from the second input bevel gear 38B to the output bevel gear 39, becomes 0, and the wheel 15 does not rotate, but the pivot shaft 35 pivots and steers.

[0059] Furthermore, in this embodiment, the rotational position of the swivel section 12 relative to the main body 10 is detected by the angle detector 16. The detection signal from the detector is input to the control device 105 of the trolley (equipment) 100. As a result, the trolley 100 can control the swivel of the drive wheel 120 using the control device 105.

[0060] The drive wheel 120 of the embodiment is characterized by comprising a first input shaft 25A and a second input shaft 25B, a rotatable axle 37 to which the wheel 15 is connected, a differential transmission mechanism 13 that transmits the rotational force of the first input shaft 25A to the axle 37 while transmitting the rotational force of the second input shaft 25B to the axle 37, a pivot shaft 35 that supports the wheel 15 so that it can rotate infinitely via the axle 37, and an angle detection shaft 16a that is fixed coaxially with respect to the pivot shaft 35 and to which an angle detector 16 is connected.

[0061] This drive wheel 120 has a differential omnidirectional movement mechanism. That is, in the drive wheel 120, the rotational force of the first input shaft 25A and the second input shaft 25B is transmitted to the axle 37 via the differential transmission mechanism 13. By adjusting the rotational speed of the first input shaft 25A and the second input shaft 25B, this drive wheel 120 can switch between the rotation of the wheel 15 connected to the axle 37 and the steering of the wheel 15. Moreover, the drive wheel 120 has an infinite rotation mechanism in which the pivot axis 35 rotates infinitely.

[0062] In particular, the drive wheel 120 has an angle detection shaft 16a to which the angle detector 16 is connected fixed coaxially with respect to the pivot shaft 35, and the pivot angle of the pivot shaft 35 is detected directly from the angle detection shaft 16a. Therefore, with this drive wheel 120, in a configuration for detecting the pivot angle of the pivot shaft 35, compared to a configuration in which the pivot angle is detected from the pivot shaft 35 via a belt or gear, the pivot angle detection mechanism can be arranged with a smaller footprint relative to the overall configuration, and the transmission loss of the pivot angle can be reduced.

[0063] Furthermore, the drive wheel 120 further includes a first drive mechanism 22A that transmits rotational force to a first input shaft 25A, and a second drive mechanism 22B that transmits rotational force to a second input shaft 25B. The first drive mechanism 22A includes a first drive unit 23A having a first drive shaft 23Aa, and a first drive transmission mechanism (first drive pulley 24A, first driven pulley 26A, and first drive belt 27A) that transmits the rotational force of the first drive shaft 23Aa to the first input shaft 25A, and the second drive mechanism 22B is The system includes a second drive unit 23B having a second drive shaft 23Ba, and a second drive transmission mechanism (second drive pulley 24B, second driven pulley 26B, and second drive belt 27B) that transmits the rotational force of the second drive shaft 23Ba to the second input shaft 25B. The first input shaft 25A, the second input shaft 25B, and the pivot shaft 35 are arranged coaxially, and the first drive shaft 23Aa and the second drive shaft 23Ba are arranged parallel and in a straight line with the first input shaft 25A, the second input shaft 25B, and the pivot shaft 35.

[0064] With this drive wheel 120, by arranging the first drive shaft 23Aa and the second drive shaft 23Ba parallel to and in a straight line with the first input shaft 25A, the second input shaft 25B, and the pivot shaft 35, the first drive transmission mechanism of the first drive mechanism 22A and the second drive transmission mechanism of the second drive mechanism 22B are arranged to partially overlap in the direction in which the first drive shaft 23Aa and the second drive shaft 23Ba extend. As a result, the area occupied by the first drive transmission mechanism of the first drive mechanism 22A and the second drive transmission mechanism of the second drive mechanism 22B in the direction intersecting the first drive shaft 23Aa and the second drive shaft 23Ba can be reduced.

[0065] Furthermore, in this drive wheel 120, the first input shaft 25A, the second input shaft 25B, and the pivot shaft 35 are arranged coaxially, and the differential transmission mechanism 13 includes a first input bevel gear 38A fixed to the first input shaft 25A, a second input bevel gear 38B fixed to the second input shaft 25B, and an output bevel gear 39 connected to the axle 37 and meshing with the first input bevel gear 38A and the second input bevel gear 38B.

[0066] With this drive wheel 120, the differential mechanism can be composed of three bevel gears: a first input bevel gear 38A, a second input bevel gear 38B, and an output bevel gear 39, which allows the area occupied by the differential mechanism to be relatively small.

[0067] Furthermore, in this drive wheel 120, the wheel 15 is composed of a single wheel, and the rotation axis (O5) of the wheel 15, which intersects the axis (O2) of the axle 37 and is aligned vertically, is positioned offset from the axis (O1) of the pivot axis 35 along the axis (O2) of the axle 37.

[0068] With this drive wheel 120, the rotation axis (O5) of the wheel 15 is offset from the axis (O1) of the pivot axis 35 along the axis (O2) of the axle 37, so that the wheel 15 rotates while turning around the axis (O1) of the pivot axis 35, thus reducing friction between the wheel 15 and the floor surface. In the case of a drive wheel in which the rotation axis (O5) of the wheel 15 coincides with the axis (O1) of the pivot axis 35, the wheel 15 rolls on the rotation axis (O5) while turning, increasing friction with the floor surface. Therefore, this drive wheel 120 can extend the life of the wheel 15.

[0069] Furthermore, the trolley 100 of this embodiment includes the aforementioned drive wheels 120 and a trolley body 101 to which the drive wheels 120 are attached. Therefore, the trolley 100 can be made smaller and lighter by using the drive wheels 120, which are miniaturized to reduce the footprint.

[0070] [Drive Wheel Embodiment 3] Figure 8 is a schematic diagram showing the drive force transmission path of the drive wheel in Embodiment 3.

[0071] The drive wheel 130 of Embodiment 3 differs from the drive wheel 110 of Embodiment 1 described above in the configuration of the differential transmission mechanism 313, but the other configurations are the same. Therefore, in the following description of the drive wheel 130 of Embodiment 3, the same reference numerals are used for parts equivalent to those of the drive wheel 110 described above, and their descriptions are omitted.

[0072] The differential transmission mechanism 313 includes a transmission mechanism 314 and a power conversion mechanism 315.

[0073] The transmission mechanism 314 comprises a first transmission mechanism 314A and a second transmission mechanism 314B. The first transmission mechanism 314A includes a first input gear 338A, a first output gear 339A, and a first output shaft 40A. The second transmission mechanism 314B includes a second input gear 338B, a second output gear 339B, and a second output shaft 40B. The first input gear 338A, the first output gear 339A, the second input gear 338B, and the second output gear 339B can be spur gears or helical gears.

[0074] In the first transmission mechanism 314A, the first input gear 338A and the first output gear 339A are housed in the housing section 35a. The first input gear 338A is fixed to the first input shaft 25A. Therefore, the first input gear 338A rotates about the axis (O1). The first input gear 338A meshes with the first output gear 339A, which is similarly located inside the housing section 35a. The first output gear 339A is fixed to the first output shaft 40A. The upper part of the first output shaft 40A is located in the housing section 35a and supported by a bearing (not shown) on the pivot shaft 35, and the lower part is supported by a support member 36 via a bearing (not shown), so as to be rotatable about an axis parallel to the axis (O1). The directions in which the axes of the first output shaft 40A extend intersect with respect to the axle 37. The axle 37 is fixed through the wheel 15, with one end and the other end extending to both sides of the wheel 15.

[0075] In the second transmission mechanism 314B, the second input gear 338B and the second output gear 339B are housed in the housing section 35a. The second input gear 338B is fixed to the second input shaft 25B. Therefore, the second input gear 338B rotates about the axis (O1). The second input gear 338B meshes with the second output gear 339B, which is similarly located inside the housing section 35a. The second output gear 339B is fixed to the second output shaft 40B. The upper part of the second output shaft 40B is located in the housing section 35a and supported by the pivot shaft 35 via a bearing (not shown), and the lower part is supported by a support member 36 via a bearing (not shown), so as to be rotatable about an axis parallel to the axis (O1). The directions in which the axes of the second output shaft 40B extend intersect with respect to the axle 37. While it is preferable that each gear 338A, 338B and each gear 339A, 339B have the same shape in terms of pitch circle diameter, tooth profile, number of teeth, etc., they may also have different shapes.

[0076] The power conversion mechanism 315 comprises a first power conversion mechanism 315A and a second power conversion mechanism 315B. The first power conversion mechanism 315A includes a first conversion drive gear 41A and a first conversion driven gear 42A. The second power conversion mechanism 315B consists of a second conversion drive gear 41B and a second conversion driven gear 42B. The first power conversion mechanism 315A and the second power conversion mechanism 315B are composed of, for example, bevel gears, but may also be screw gears, helical gears, worm gears, crown gears, universal joints, etc.

[0077] In the first power conversion mechanism 315A, the first conversion drive gear 41A is fixed to the lower part of the first output shaft 40A. Therefore, the first conversion drive gear 41A rotates together with the first output shaft 40A. The first conversion driven gear 42A is fixed to one end of the axle 37. Therefore, the first conversion driven gear 42A rotates together with the axle 37 around the axis (O2). The first conversion drive gear 41A and the first conversion driven gear 42A mesh with each other. Therefore, the first power conversion mechanism 315A converts the rotation of the first output shaft 40A around the axis (O2) of the axle 37.

[0078] In the second power conversion mechanism 315B, the second conversion drive gear 41B is fixed to the lower part of the second output shaft 40B. Therefore, the second conversion drive gear 41B rotates together with the second output shaft 40B. The second conversion driven gear 42B is fixed to the other end of the axle 37. Therefore, the second conversion driven gear 42B rotates together with the axle 37 around the axis (O2). The second conversion drive gear 41B and the second conversion driven gear 42B mesh with each other. Therefore, the second power conversion mechanism 315B converts the rotation of the second output shaft 40B around the axis (O2) of the axle 37.

[0079] Now, let's explain the operation of the drive wheel 130. When the first input shaft 25A of the drive wheel 130 rotates in the A1 direction, the first input gear 338A rotates in the same direction, and the first output gear 339A, which meshes with the first input gear 338A, rotates in the A2 direction, opposite to the A1 direction. When the first output gear 339A rotates in the A2 direction, the first conversion drive gear 41A rotates in the same direction via the first output shaft 40A. Then, the first conversion driven gear 42A, which meshes with the first conversion drive gear 41A, rotates in the A3 direction, causing the axle 37 to rotate in the same direction. On the other hand, when the second input shaft 25B of the drive wheel 130 rotates in the B1 direction, opposite to the A1 direction, the second input gear 338B rotates in the same direction, and the second output gear 339B, which meshes with the second input gear 338B, rotates in the B2 direction, opposite to the B1 direction. When the second output gear 339B rotates in the B2 direction, the second conversion drive gear 41B rotates in the same direction via the second output shaft 40B. Then, the second conversion driven gear 42B, which meshes with the second conversion drive gear 41B, rotates in the B3 direction, which is the same direction as the A3 direction, causing the axle 37 to rotate in the same direction. Here, since the A3 direction and the B3 direction are the same direction of rotation for the drive wheel 130, if the first input shaft 25A and the second input shaft 25B are rotating at the same speed, the wheel 15 rotates without turning.

[0080] At this time, when the rotational speed of the second input shaft 25B of the drive wheel 130 is reduced relative to the rotational speed of the first input shaft 25A, the rotational speed input from the second conversion drive gear 41B to the axle 37 via the second conversion driven gear 42B becomes lower than the rotational speed input from the first conversion drive gear 41A to the axle 37 via the first conversion driven gear 42A. As a result, the pivot shaft 35 rotates by the difference in rotational speed, causing the wheel 15 to pivot and steer. Also, when the rotation of the first input shaft 25A or the second input shaft 25B of the drive wheel 130 is stopped, the rotational speed input from the first conversion drive gear 41A to the axle 37 via the first conversion driven gear 42A, or from the second conversion drive gear 41B to the axle 37 via the second conversion driven gear 42B, becomes 0, and the wheel 15 pivots and steers without rotating.

[0081] Furthermore, the drive wheels 130 can be configured such that the rotation axis (O5) of the wheel 15, which is aligned vertically and intersects the axis (O2) of the axle 37, is offset horizontally from the axis (O1) of the pivot axis 35, perpendicular to the axis (O2) of the axle 37. Therefore, when the drive wheels 130 are not driving the wheel 15, the wheel 15 can be passively rotated by an external force acting from the horizontal. In other words, the drive wheels 130 can automatically drive and steer the trolley 100, and an operator can also manually drive and steer it.

[0082] Furthermore, in this embodiment, the rotational position of the swivel section 12 relative to the main body 10 is detected by the angle detector 16. The detection signal from the detector is input to the control device 105 of the trolley (equipment) 100. As a result, the trolley 100 can control the swivel of the drive wheel 130 using the control device 105.

[0083] The drive wheel 130 of the embodiment is characterized by comprising a first input shaft 25A and a second input shaft 25B, a rotatable axle 37 to which the wheel 15 is connected, a differential transmission mechanism 313 that transmits the rotational force of the first input shaft 25A to the axle 37 while transmitting the rotational force of the second input shaft 25B to the axle 37, a pivot shaft 35 that supports the wheel 15 so that it can rotate infinitely via the axle 37, and an angle detection shaft 16a that is fixed coaxially with respect to the pivot shaft 35 and to which the angle detector 16 is connected.

[0084] This drive wheel 130 has a differential omnidirectional movement mechanism. That is, in the drive wheel 120, the rotational force of the first input shaft 25A and the second input shaft 25B is transmitted to the axle 37 via the differential transmission mechanism 313. This drive wheel 130 can switch between the rotation of the wheel 15 connected to the axle 37 and the steering of the wheel 15 by adjusting the rotational speed of the first input shaft 25A and the second input shaft 25B. Moreover, the drive wheel 130 has an infinite rotation mechanism in which the pivot axis 35 rotates infinitely.

[0085] In particular, the drive wheel 130 has an angle detection shaft 16a to which the angle detector 16 is connected fixed coaxially with respect to the pivot shaft 35, and the pivot angle of the pivot shaft 35 is detected directly from the angle detection shaft 16a. Therefore, with this drive wheel 130, in a configuration for detecting the pivot angle of the pivot shaft 35, compared to a configuration in which the pivot angle is detected from the pivot shaft 35 via a belt or gear, the pivot angle detection mechanism can be arranged with a smaller footprint relative to the overall configuration, and the transmission loss of the pivot angle can be reduced.

[0086] Furthermore, the trolley 100 of this embodiment includes the aforementioned drive wheels 130 and a trolley body 101 to which the drive wheels 130 are attached. Therefore, the trolley 100 can be made smaller and lighter by using the drive wheels 130, which are miniaturized to reduce the footprint.

[0087] 13, 213, 313 Differential transmission mechanism 15 Wheel 16 Angle detector 16a Angle detection shaft 22A First drive mechanism 22B Second drive mechanism 23A First drive unit 23Aa First drive shaft 23B Second drive unit 23Ba Second drive shaft 24A First drive pulley (first drive transmission mechanism) 24B Second drive pulley (second drive transmission mechanism) 25A First input shaft 25B Second input shaft 26A First driven pulley (first drive transmission mechanism) 26B Second driven pulley (second drive transmission mechanism) 27A First drive belt (first drive transmission mechanism) 27B Second drive belt (second drive transmission mechanism) 35 Swivel shaft 37 Axle 38A First input bevel gear 38B Second input bevel gear 39 Output bevel gear 100 Bogie 101 Bogie body 110, 120, 130 drive wheels

Claims

1. A drive wheel comprising: a first input shaft and a second input shaft; a rotatable axle to which a wheel is connected; a differential transmission mechanism that transmits the rotational force of the first input shaft to the axle while transmitting the rotational force of the second input shaft to the axle; a pivot shaft that supports the wheel so as to be able to rotate infinitely via the axle; and an angle detection shaft fixed coaxially with the pivot shaft and to which an angle detector is connected.

2. The drive wheel according to claim 1, further comprising: a first drive mechanism for transmitting rotational force to a first input shaft; and a second drive mechanism for transmitting rotational force to a second input shaft, wherein the first drive mechanism includes a first drive unit having a first drive shaft and a first drive transmission mechanism for transmitting the rotational force of the first drive shaft to the first input shaft; the second drive mechanism includes a second drive unit having a second drive shaft and a second drive transmission mechanism for transmitting the rotational force of the second drive shaft to the second input shaft; the first input shaft, the second input shaft and the pivot shaft are arranged coaxially; and the first drive shaft and the second drive shaft are arranged parallel and in a straight line with the first input shaft, the second input shaft and the pivot shaft.

3. The drive wheel according to claim 1, wherein the first input shaft, the second input shaft, and the pivot shaft are arranged coaxially, and the differential transmission mechanism includes a first input bevel gear fixed to the first input shaft, a second input bevel gear fixed to the second input shaft, and an output bevel gear connected to the axle and meshing with the first input bevel gear and the second input bevel gear.

4. The drive wheel according to claim 1, wherein the rotation axis of the wheel, which intersects the axis of the axle and is aligned vertically, is positioned so as to be offset horizontally from the axis of the pivot axis, perpendicular to the axis of the axle.

5. The drive wheel according to claim 1, wherein the wheel is composed of a single wheel, and the rotation axis of the wheel, which intersects the axis of the axle and is aligned vertically, is positioned offset from the axis of the pivot axis along the axis of the axle.

6. A trolley comprising: a drive wheel; and a trolley body to which the drive wheel is attached, wherein the drive wheel comprises: a first input shaft and a second input shaft; a rotatable axle to which the wheel is connected; a transmission mechanism that transmits the rotational force of the first input shaft to the axle while transmitting the rotational force of the second input shaft to the axle; a pivot shaft that supports the wheel so as to be infinitely pivotable via the axle; and an angle detection shaft fixed coaxially with respect to the pivot shaft and to which an angle detector is connected.

Images